新增步进电机方向控制，振动引脚

export_pin.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2025/2/18 17:49
+# @Author  : hjw
+# @File    : export_pin.py
+'''
+
+import os
+import time
+
+
+class GPIOChipController:
+    def __init__(self, chip_path="/sys/class/gpio/gpiochip0"):   # 注意引脚分组
+        # 读取GPIO控制器信息
+        self.base = int(self._read_file(os.path.join(chip_path, "base")))
+        self.ngpio = int(self._read_file(os.path.join(chip_path, "ngpio")))
+        self.label = self._read_file(os.path.join(chip_path, "label"))
+        print(f"GPIO控制器信息: {self.label} (base={self.base}, ngpio={self.ngpio})")
+
+    def _read_file(self, path):
+        with open(path, 'r') as f:
+            return f.read().strip()
+
+    def _write_file(self, path, value):
+        with open(path, 'w') as f:
+            f.write(str(value))
+
+    def export_gpio(self, offset):
+        """导出指定控制器的GPIO引脚"""
+        if offset < 0 or offset >= self.ngpio:
+            raise ValueError(f"偏移量必须在0-{self.ngpio - 1}范围内")
+
+        gpio_number = self.base + offset
+        export_path = "/sys/class/gpio/export"
+        if not os.path.exists(f"/sys/class/gpio/gpio{gpio_number}"):
+            try:
+                self._write_file(export_path, gpio_number)
+                time.sleep(0.1)  # 等待系统创建目录
+            except IOError as e:
+                if "Device or resource busy" in str(e):
+                    print(f"GPIO{gpio_number} 已经导出")
+                else:
+                    raise
+        return gpio_number
+
+    def setup_gpio(self, gpio_number, direction='out'):
+        """配置GPIO方向"""
+        direction_path = f"/sys/class/gpio/gpio{gpio_number}/direction"
+        self._write_file(direction_path, direction)
+
+    def set_gpio(self, gpio_number, value):
+        """设置GPIO电平"""
+        value_path = f"/sys/class/gpio/gpio{gpio_number}/value"
+        self._write_file(value_path, 1 if value else 0)
+
+    def read_gpio(self, gpio_number):
+        """读取GPIO电平"""
+        value_path = f"/sys/class/gpio/gpio{gpio_number}/value"
+        return int(self._read_file(value_path))
+
+
+if __name__ == "__main__":
+    """
+    rk3506导出引脚 
+    该脚本导出扩展口引脚    SAI1_SDO0（17）     对应 GPIO0_B4_d    8 + 4  = 12
+    """
+    try:
+        # 初始化GPIO控制器
+        ctrl = GPIOChipController()
+
+        # 导出并配置GPIO (假设控制器的base=0，偏移量B4即12)
+        gpio_num = ctrl.export_gpio(12)
+        ctrl.setup_gpio(gpio_num, 'out')
+
+        # 引脚高低电平测试
+        for _ in range(10):
+            ctrl.set_gpio(gpio_num, 1)
+            print(f"GPIO{gpio_num} 置高")
+            time.sleep(10)
+            ctrl.set_gpio(gpio_num, 0)
+            print(f"GPIO{gpio_num} 置低")
+            time.sleep(1)
+
+    except PermissionError:
+        print("需要root权限！请使用sudo运行")
+    except Exception as e:
+        print(f"发生错误: {str(e)}")